Modular surgical instruments

ABSTRACT

A surgical instrument comprising a handle and a shaft attachment assembly attachable to and detachable from the handle is disclosed. The handle comprises a first handle drive system and a second handle drive system. The shaft attachment assembly comprises an end effector, a shaft extending from the end effector, a first shaft assembly drive system, a second shaft assembly drive system, and a coupling portion configured to be attached to the handle. The coupling portion comprises a coupling mechanism configured to operably couple the first handle drive system to the first shaft assembly drive system so that the first handle drive system can be operated to actuate a first surgical function of the end effector and operably couple the second handle drive system to the second shaft assembly drive system so that the second handle drive system can be operated to actuate a second surgical function of the end effector.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation application claiming priority under 35 U.S.C. § 120 to U.S. patent application Ser. No. 14/138,507, entitled MODULAR SURGICAL INSTRUMENTS, filed on Dec. 23, 2013, which issued on Aug. 8, 2017 as U.S. Pat. No. 9,724,092, the entire disclosure of which is hereby incorporated by reference herein.

FIELD OF THE INVENTION

The present invention relates to surgical instruments and, in various arrangements, to surgical cutting and stapling instruments and staple cartridges therefor that are designed to cut and staple tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention itself will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a perspective view of a surgical instrument arrangement of the present invention;

FIG. 2 is a perspective view of an exemplary loading unit that may be employed in connection with various surgical instruments disclosed herein;

FIG. 3 is another partial cross-sectional view of a portion of the loading unit depicted in FIG. 2;

FIG. 4 is a an exploded perspective view of the loading unit of FIGS. 2 and 3;

FIG. 5 is a partial perspective view of a portion of a carrier and an articulation ball assembly embodiment;

FIG. 6 is a perspective view of an articulation tube embodiment;

FIG. 7 is a partial cross-sectional view of a loading unit of FIGS. 2-4;

FIG. 8 is another cross-sectional view of the loading unit of FIG. 7 in an unarticulated position;

FIG. 9 is another cross-sectional view of the loading unit of FIGS. 7 and 8 with the carrier and anvil assembly articulated as a unit in a second direction;

FIG. 10 is a partial perspective view of a loading unit and a portion of an elongated shaft assembly prior to commencing a coupling operation between the loading unit and a distal end of the elongated shaft assembly;

FIG. 11 is another perspective view of portions of the loading unit and elongated shaft assembly of FIG. 10 after being coupled together;

FIG. 12 is a partial exploded perspective view of portions of the elongated shaft assembly, a coupling assembly and the loading unit of FIG. 10;

FIG. 13 is another partial exploded perspective view of the shaft assembly, the coupling assembly and the loading unit of FIG. 10;

FIG. 14 is a perspective view of a distal attachment portion of the loading unit of FIG. 10;

FIG. 15 is another perspective view of the distal attachment portion of the loading unit of FIG. 10;

FIG. 16 is a perspective view of a proximal attachment portion of the elongated shaft assembly of FIG. 13;

FIG. 17 is another perspective view of the proximal attachment portion of the elongated shaft assembly of FIG. 13;

FIG. 18 is a perspective view of the collar and a firing shaft arrangement;

FIG. 19 is a partial perspective, cross-section view of the loading unit, the coupling assembly, and a proximal end of the elongated shaft assembly of FIG. 13, depicting the loading unit attached to the elongated shaft assembly;

FIG. 20 is a partial elevation, cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit unattached to the elongated shaft assembly;

FIG. 21 is a partial elevation, cross-sectional view of the loading unit, the coupling assembly and the elongated shaft assembly of FIG. 13, depicting the loading unit attached to the elongated shaft assembly;

FIG. 22 is an elevational view of the coupling assembly and the elongated shaft assembly of FIG. 13 taken along the plane indicated in FIG. 20;

FIG. 23 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit unattached to the elongated shaft assembly, and further depicting the coupling collar in an initial orientation relative to the elongated shaft assembly;

FIG. 24 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit unattached to the shaft, and further depicting the coupling collar in the initial orientation relative to the elongated shaft assembly;

FIG. 25 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit entering the elongated shaft assembly, and further depicting the coupling collar in the initial orientation relative to the elongated shaft assembly;

FIG. 26 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit entering the elongated shaft assembly, and further depicting the coupling collar in a secondary, rotated orientation relative to the elongated shaft assembly;

FIG. 27 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit entering the elongated shaft assembly, and further depicting the coupling collar in the secondary, rotated orientation relative to the elongated shaft assembly;

FIG. 28 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit fully inserted into the elongated shaft assembly, and further depicting the coupling collar in the secondary, rotated orientation relative to the elongated shaft assembly;

FIG. 29 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit fully inserted into the elongated shaft assembly, and further depicting the coupling collar in the initial orientation relative to the elongated shaft assembly; and

FIG. 30 is a perspective, partial cross-sectional view of the loading unit, the coupling assembly, and the elongated shaft assembly of FIG. 13, depicting the loading unit fully inserted into the elongated shaft assembly, and further depicting the coupling collar in the initial orientation relative to the elongated shaft assembly.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patent applications that were filed on Dec. 23, 2013 and which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/138,465, entitled SURGICAL STAPLES AND STAPLE CARTRIDGES, now U.S. Patent Application Publication No. 2015/0173744;

U.S. patent application Ser. No. 14/138,475, entitled SURGICAL STAPLES AND STAPLE CARTRIDGES, now U.S. Patent Application Publication No. 2015/0173749;

U.S. patent application Ser. No. 14/138,481, entitled SURGICAL STAPLES AND METHODS FOR MAKING THE SAME, now U.S. Patent Application Publication No. 2015/0173750;

U.S. patent application Ser. No. 14/138,489, entitled SURGICAL STAPLES, STAPLE CARTRIDGES AND SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2015/0173751;

U.S. Design patent application No. 29/477,488, entitled SURGICAL FASTENER, now U.S. Pat. No. D775,336;

U.S. patent application Ser. No. 14/138,505, entitled FASTENER CARTRIDGE COMPRISING AN EXTENDABLE FIRING MEMBER, now U.S. Pat. No. 9,585,662;

U.S. patent application Ser. No. 14/138,518, entitled FASTENER CARTRIDGE COMPRISING A FIRING MEMBER CONFIGURED TO DIRECTLY ENGAGE AND EJECT FASTENERS FROM THE FASTENER CARTRIDGE, now U.S. Patent Application Publication No. 2015/0173761;

U.S. patent application Ser. No. 14/138,530, entitled FASTENER CARTRIDGE COMPRISING A FIRING MEMBER INCLUDING FASTENER SURFACES, now U.S. Pat. No. 9,549,735;

U.S. patent application Ser. No. 14/138,554, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE SHAFT ARRANGEMENTS, now U.S. Patent Application Publication No. 2015/0173789;

U.S. patent application Ser. No. 14/138,474, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSING AND FIRING SYSTEMS, now U.S. Patent Application Publication No. 2015/0173745;

U.S. patent application Ser. No. 14/138,485, entitled SURGICAL CUTTING AND STAPLING INSTRUMENTS WITH INDEPENDENT JAW CONTROL FEATURES, now U.S. Patent Application Publication No. 2015/0173746;

U.S. patent application Ser. No. 14/138,497, entitled SURGICAL CUTTING AND STAPLING INSTRUMENTS WITH ARTICULATABLE END EFFECTORS, now U.S. Patent Application Publication No. 2015/0173755; and

U.S. patent application Ser. No. 14/138,516, entitled SURGICAL CUTTING AND STAPLING METHODS, U.S. Patent Application Publication No. 2015/0173756.

Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” referring to the portion closest to the clinician and the term “distal” referring to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the person of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, those of ordinary skill in the art will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongated shaft of a surgical instrument can be advanced.

Powered surgical instruments are disclosed in U.S. Patent Application Publication No. US 2009/0090763 A1, entitled POWERED SURGICAL STAPLING DEVICE to Zemlok et al. (hereinafter “Zemlok '763”), the entire disclosure of which is hereby incorporated by reference herein. Powered surgical instruments are also disclosed in U.S. Patent Application Publication No. US 2011/0278344 A1, entitled POWERED SURGICAL INSTRUMENT to Zemlok et al. (hereinafter “Zemlok '344”), now U.S. Pat. No. 8,201,721, the entire disclosure of which is hereby incorporated by reference herein. FIG. 1 illustrates a powered surgical instrument 10 that, in many ways, may be similar to those surgical instruments (including various features, components and subcomponents thereof) disclosed in, for example, Zemlok '763 and/or Zemlok '344, which have each been incorporated by reference herein in their respective entireties. Likewise, the surgical instrument 10 may be similar to those surgical instruments disclosed in U.S. patent application Ser. No. 13/974,205, filed Aug. 23, 2013, entitled ATTACHMENT PORTIONS FOR SURGICAL INSTRUMENT ASSEMBLIES to Shelton et al. the entire disclosure of which is hereby incorporated by reference herein. The surgical instrument 10 depicted in FIG. 1 includes a housing 12 that has a handle portion 14 for facilitating manual manipulation and operation of the instrument. Thus, the term “housing” as used herein may encompass a handheld or otherwise hand-manipulatable arrangement. However, the term “housing” may also encompass portions of an automated surgical instrument system such as a robotically-controlled system that is not intended to be handheld but is otherwise manipulated and actuatable by various components, portions, and/or actuators of the system. For example, various implementations of the surgical instrument described herein may be used in connection with those robotic systems and arrangements disclosed in U.S. patent application Ser. No. 13/536,323, entitled ROBOTICALLY POWERED SURGICAL DEVICE WITH MANUALLY ACTUATABLE REVERSING SYSTEM, filed Jun. 28, 2012, the entire disclosure of which is incorporated by reference herein. Furthermore, the coupling arrangements and end effector arrangement disclosed herein may also be effectively employed with non-powered hand held surgical instruments. Thus, the end effector arrangements and coupling arrangements disclosed herein should not be limited to use in connection with powered instruments, whether they be handheld or otherwise automated.

An elongated shaft assembly 116 in the form of an endoscopic portion protrudes from the housing 12 and is configured for operable attachment to a surgical end effector that is constructed to perform at least one surgical procedure in response to applications of firing motions thereto. The surgical end effector may comprise a device configured to cut and staple tissue such as a “loading unit” 20 as shown in FIGS. 2-9. Surgical end effectors, such as loading unit 20, for example, can be releasably attached to the elongated shaft assembly 116 of the powered surgical instrument 10, as described in greater detail herein.

FIGS. 2-9 illustrate one exemplary form of end effector or loading unit 20 that may be employed with the surgical instrument 10. As can be seen in FIG. 2, the loading unit 20 includes an anvil assembly 220 that is supported for pivotal travel relative to a carrier 240 that operably supports a staple cartridge 260 therein. The staple cartridge 260 may comprise a surgical staple cartridge that is designed to be “implanted” within the patient. For example, the implantable surgical staple cartridge 260 may comprise any of the various surgical staple cartridge arrangements disclosed in U.S. Patent Application Publication No. US 2012-0080484, filed Sep. 30, 2010, entitled SURGICAL STAPLING INSTRUMENT WITH A VARIABLE STAPLE FORMING SYSTEM, the entire disclosure of which is hereby incorporated by reference herein. In at least one implementation for example, the staple cartridge 260 includes a body portion 261 that consists of a compressible hemostat material such as, for example, oxidized regenerated cellulose (“ORC”) or a bio-absorbable foam in which lines of unformed metal staples are supported. In at least some embodiments, in order to prevent the staple from being affected and the hemostat material from being activated during the introduction and positioning process, the entire cartridge may be coated or wrapped in a biodegradable film such as a polydioxanon film sold under the trademark PDS® or with a Polyglycerol sebacate (PGS) film or other biodegradable films formed from PGA (Polyglycolic acid, marketed under the trade mark Vicryl), PCL (Polycaprolactone), PLA or PLLA (Polylactic acid), PHA (polyhydroxyalkanoate), PGCL (poliglecaprone 25, sold under the trademark Monocryl) or a composite of PGA, PCL, PLA, PDS that would be impermeable until ruptured. The body 261 of staple cartridge 260 is sized to be removably supported within the carrier 240 as shown such that each staple therein is aligned with corresponding staple forming pockets in the anvil assembly 220.

The anvil assembly 220 has a pair of trunnions 221 formed thereon that are adapted to be pivotally received within trunnion slots 242 in a proximal end 241 of the carrier 240 such that the anvil assembly 220 may move or pivot between an open position and a closed position relative to the carrier 240 about an anvil pivot axis ANV-ANV. The anvil pivot axis ANV-ANV is transverse to a longitudinally extending tool axis LA-LA defined by the elongated shaft assembly 116. When the anvil assembly 220 is pivoted from an open position to a closed position, the anvil assembly 220 is moving in a closing direction “CD” about anvil pivot axis ANV-ANV. Conversely, when the anvil assembly 220 is moving from a closed position to an open position, the anvil assembly 220 is moving in an opening direction “OD” about anvil pivot axis ANV-ANV.

The loading unit 20 employs a unique and novel articulation joint 270 that facilitates articulation of the carrier 240 and anvil assembly 220 to pivot about an articulation axis “AA-AA” that is transverse to a longitudinal tool axis “LA-LA”. For example, the loading unit 20 may include an end effector housing 400 that is configured to be received within an outer casing 450. The distal end 402 of the end effector housing 400 may have a clevis 404 formed thereon by two distally protruding tabs 406. Each tab 406 has a pivot hole 408 formed therein that is adapted to receive therein a corresponding pivot pin 274 formed on an articulation ball assembly 272. See FIG. 4. The articulation ball assembly 272 may be rigidly affixed to the proximal end 241 of the carrier 240 by, for example, welding or other suitable fastening arrangement. As will be discussed in further detail below, when assembled together, the carrier 240 and anvil assembly 220 can selectively articulate as a unit about the articulation axis AA-AA in a first direction “FD” which is the same direction as the anvil closing direction “CD” and in a second direction “SD” which is the same as the anvil opening direction “OD”. See FIG. 9.

Still referring to FIG. 4, the end effector housing 400 may be provided with a channel 410 for slidably receiving an articulation link 420 therein. The articulation link 420 includes a proximal end portion 422 and a distal end 424. Fixedly attached to the distal end portion 424 is an articulation tube 426. The articulation tube 426 may comprise a hollow tube and be attached to the distal end 424 by, for example, welding or other suitable means. As can be seen in FIG. 6, the articulation tube 426 may have a series of articulation teeth 428 formed therein that are configured to meshingly engage sets of distal articulation teeth 276 formed on the articulation ball 272. Thus, movement of the articulation link 420 in the distal direction “DD” will cause the carrier 240 and anvil assembly 220 to pivot in the first direction “FD” about the articulation axis AA-AA. Conversely, movement of the articulation link 420 in the proximal direction “PD” will cause the carrier 240 and anvil assembly 220 to pivot as a unit in the second direction “SD” about the articulation axis AA-AA. The articulation link 420 and the articulation tube 426 may be collectively referred to herein as the articulation link assembly 425. See FIG. 4.

The loading unit 20 may also be equipped with a drive assembly 460 that is configured to axially move through the end effector housing 400. In at least one implementation, the drive assembly 460 includes a drive beam assembly 461 that includes an upper drive beam 462 and a lower drive beam 464 that are attached to a cutting head 470. The cutting head 470 may include a body portion 471 that has a tissue cutting edge 472 formed thereon. An upper portion 473 of the body portion 471 has an upper tab 474 formed thereon. A bottom foot or tab 476 is formed on a lower portion 475 of the body portion 471. The vertically oriented body portion 471 extends through a longitudinally extending slot 245 in the carrier 240 and a longitudinally extending slot 222 in the anvil assembly 220. When assembled, the bottom foot 476 is configured to slide along the bottom of the carrier 240. The, upper tab portion 474 is arranged to be slidably received within an elongated channel 223 formed in the anvil assembly 220.

As can be seen in FIG. 4, the upper firing bar 462 is attached to the upper end portion 473 and the lower firing bar 464 is spaced from the upper firing bar 462 and is attached to the lower end portion 475 of the vertically-extending portion 471 of the cutting head 470. Such arrangement serves to transmit the firing motions to the upper and lower portions of the cutting head 470 in an equivalent manner to facilitate aligned movement of the cutting head 470 through the anvil assembly 220, the surgical staple cartridge 260 and the carrier 240. In various arrangements, for example, the upper firing bar 462 may be attached to the upper end portion 473 directly behind the upper tabs(s) 474 such that the upper firing bar 462 is essentially axially aligned with point(s) from which the upper tab(s) 474 protrude laterally from the upper end portion 473. Similarly, the lower firing bar 464 may be attached to the bottom end portion 475 directly behind the bottom foot 476 or the point(s) from which the laterally protruding bottom tabs 476 protrude laterally from the bottom end portion 475 such that the lower firing bar 464 is axially aligned therewith. The upper and lower firing bars 462, 464 may be welded to the vertical extending portion 471 in those locations. For example, the welds may be applied to the firing bars from one side or from both lateral sides of the firing bars. As the cutting head 470 is driven distally in the distal direction “DD”, the anvil assembly 220 is pivoted closed between the upper tabs(s) 474 and the lower tab(s) or foot 476. Further advancement of the cutting head assembly 470 causes the surgical staple cartridge 260 to be crushed between the anvil assembly 220 and the carrier 240 thereby causing the surgical staples supported therein to be formed on both sides of the tissue cut line as they are brought into contact with the staple forming underside of the anvil assembly 220. After the cutting head assembly 470 has been advanced to the distal end of the carrier 240, the user retracts the cutting head assembly 470 to the starting position whereupon the anvil assembly 220 may be opened to release the staple cartridge 260 and stapled tissue. In one implementation, for example, the upper tab(s) 474 are configured to interact with the upper surface of the anvil assembly 220 to cam or pivot the anvil assembly 220 back to the open position. In alternative arrangements, a spring or other biasing member (not shown) may be employed to bias the anvil assembly 220 to the open position when the cutting head assembly 470 is in a starting position.

The drive beam assembly 460 may further include a proximal engagement member 467 that includes a pair of engagement fingers 468 that are configured to operably engage a distal end 522 of a firing rod 104 as will be discussed in further detail herein. As can be seen in FIG. 4, for example, the proximal engagement member 467 is pivotally coupled to the upper and lower firing bars 462, 464 to facilitate articulation and flexing thereof during articulation of the carrier 240 about the articulation axis AA-AA without binding the drive beam assembly 461. In at least one implementation, for example, the proximal engagement member 467 is pivotally coupled to the upper and lower firing bars 462, 464 by a pair of pivot links 466. Such links 466 enable the upper firing bar 462 to pivot relative to the proximal engagement member 467 independent form the lower firing bar 464 and visa versa.

As can be seen in FIG. 1, the surgical instrument 10 may include a motor 100 that is configured to generate rotary actuation motions that may be employed, for example, to apply firing motions to the loading unit 20 as will be discussed in further detail below. In at least one form, for example, the motor 100 is configured to apply rotary actuation motions to a firing member assembly, generally designated as 82. In one arrangement, for example, the firing member assembly 82 includes a drive tube 102 that is rotatably supported within the housing 12 and has an internal thread (not shown) formed therein. A proximal threaded portion of a firing member or firing rod 104 is supported in threaded engagement with the drive tube 102 such that rotation of the drive tube 102 results in the axial movement of the firing rod 104. The firing rod 104 may interface with the interior of the drive assembly 460 in the loading unit 20. As discussed in further detail in the aforementioned incorporated Zemlok '763 and Zemlok '344, rotation of drive tube 102 in a first direction (e.g., counter-clockwise) causes the firing rod 104 to advance the drive assembly 460 in the distal direction.

As can be further seen in FIG. 1, the surgical instrument 10 may include an articulation system generally designated as 109. However, surgical instrument 10 may include various other articulation system arrangements disclosed in detail herein. In at least one form, the articulation system 109 may include an articulation mechanism 110 that includes an articulation motor 112 and a manual articulation knob 114. The articulation motor 112 may be actuated by a powered articulation switch 116 or by pivoting the manual articulation knob 114. Actuation of the articulation motor 112 serves to rotate an articulation gear 118 of the articulation mechanism 110. Actuation of articulation mechanism 110 may cause the end effector (e.g., the cartridge/anvil portion of the loading unit 20) to move from its first position, wherein its axis is substantially aligned with longitudinal tool axis “LA-LA” of the elongated shaft assembly 116 to a position in which the axis of the end effector is disposed at an angle relative to the longitudinal tool axis “LA-LA” of the elongated shaft assembly about, for example, articulation axis “AA-AA”. Further discussion regarding various aspects of the articulation mechanism 110 may be found in Zemlok '763 which was previously incorporated by reference herein in its entirety. In addition, U.S. Pat. No. 7,431,188 entitled SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION, the entire disclosure of which is hereby incorporated by reference herein, discloses motor-powered articulatable end effectors which may be employed in connection with surgical instrument 10. Those of ordinary skill in the art will understand, however, that the unique and novel coupling and end effector arrangements disclosed herein may also be effectively employed with manually-operated (i.e., non-powered) articulation systems that are known in the art.

In various embodiments, the surgical instrument can include at least one motor, which can apply firing motions to the loading unit 20 and/or articulation motions to the articulation system 109, as described elsewhere in greater detail. The motor 100 may, for example, be powered by a power source 200 of the type described in further detail in Zemlok '763. For example, the power source 200 may comprise a rechargeable battery (e.g., lead-based, nickel-based, lithium-ion based, etc.). It is also envisioned that the power source 200 may include at least one disposable battery. The disposable battery may, for example, be between about 9 volts and about 30 volts. However, other power sources may be employed. FIG. 1 illustrates one example wherein the power source 200 includes a plurality of battery cells 202. The number of battery cells 202 employed may depend upon the current load requirements of the instrument 10.

Referring to FIG. 1, a power source such as, for example, the power source 200 can supply power for operation of the surgical instrument 10. For example, the power source 200 can supply power for a motor such as, for example, motor 100 to cause rotation of the drive tube 102 in a first direction and ultimately the axial advancement of the firing rod 104 which drives the drive assembly 460 distally through the loading unit 20. Alternatively, the power source 200 can supply power for the motor 100 to cause rotation of the drive tube 102 in a second direction opposite the first direction and ultimately the axial retraction of the firing rod 104 which can move the drive beam 60 proximally to its starting and/or default position.

Surgical end effectors, such as a disposable loading unit 20, for example, can be operably coupled to the elongated shaft assembly 116 of the powered surgical instrument 10 (FIG. 1). In various embodiments, the surgical instrument 10 can include an elongated shaft assembly 116, which can engage the loading unit 20, for example. In various embodiments, a coupling assembly 115 that includes a rotatable coupling collar 500, for example, can releasably lock the loading unit 20 relative to the elongated shaft assembly 116. Furthermore, in various embodiments, rotation of the coupling collar 500 can facilitate attachment and/or alignment of a firing assembly and/or an articulation assembly, as described herein. In various embodiments, the loading unit 20 can include a distal attachment portion 480 and the elongated shaft assembly 116 can include an outer tube 30 and a distal attachment portion 32. The distal attachment portion 480 of the loading unit 20 can receive the distal attachment portion 32 of the shaft assembly 116 when the loading unit 20 is secured to the elongated shaft assembly 116 (FIG. 11). Furthermore, the rotatable coupling collar 500 can be positioned around the distal attachment portion 32 of the shaft assembly 116, such that the distal attachment portion 480 of the loading unit 20 can also be positioned within the rotatable coupling collar 500. The rotatable coupling collar 500 can be secured to the elongated shaft assembly 116 and/or the proximal attachment portion 480, and, in certain embodiments, can be rotatably fixed to the distal attachment portion 32 of the shaft assembly 116, for example. In certain embodiments, a proximal attachment portion of the shaft assembly 116 can receive a distal attachment portion 480 of the loading unit 20 when the loading unit 20 is secured to the shaft assembly 116. Furthermore, in certain embodiments, a coupling collar 500 can be rotatably fixed to the loading unit 20.

Referring to FIGS. 10 and 11, as the loading unit 20 moves between a non-attached position and an attached position relative to the elongated shaft assembly 116 of the surgical instrument 10, the loading unit 20 can translate along a longitudinal tool axis LA-LA as defined by the elongated shaft assembly 116. The distal attachment portion 480 of the loading unit 20 can be inserted into the distal attachment portion 32 of the elongated shaft assembly 116 as the loading unit 20 moves from the non-attached position to the attached position. For example, the loading unit 20 can translate in proximal direction “PD” (FIG. 11) when the loading unit 20 is moved between the non-attached position and the attached position. In certain embodiments, a groove-and-slot engagement between the distal attachment portion 480 and the distal attachment portion 32 can guide the loading unit 20 along the longitudinal tool axis LA-LA defined by the elongated shaft assembly 116. Referring primarily to FIG. 14, the distal attachment portion 480 can include a guide rail 482. Furthermore, referring primarily to FIG. 16, the distal attachment portion 32 can include a guide slot 34. The guide slot 34 can be dimensioned and structured to receive and guide the guide rail 482 as the proximal attachment portion 480 of the loading unit 20 is inserted into the distal attachment portion 32 of the elongated shaft assembly 116. For example, the guide slot 34 can comprise a longitudinal slot, and the guide rail 482 can comprise a longitudinal ridge, for example. In certain embodiments, the guide slot 34 and guide rail 482 can prevent twisting and/or rotating of the loading unit 20 relative to the longitudinal tool axis LA-LA.

Referring primarily to FIG. 10, the distal attachment portion 480 can include a first alignment indicia 484, such as a first arrow, for example, and the elongated shaft assembly 116 and/or the coupling collar 500 can include a second alignment indicia 502, such as a second arrow, for example. Alignment of the first and second alignment indicia 484, 502 can align the guide rail 482 and the guide slot 34, which can facilitate attachment of the distal attachment portion 480 to the distal attachment portion 32. As described herein, translation of the loading unit 20 along a longitudinal path toward the elongated shaft assembly 116 can releasably lock the loading unit 20 relative to the elongated shaft assembly 116. In such embodiments, rotation of the loading unit 20 relative to the elongated shaft assembly 116 may not be required to attach the loading unit 20 relative to the elongated shaft assembly 160. In fact, rotation of the loading unit 20 relative to the elongated shaft assembly 116 can be restrained and/or prevented by a groove-and-slot engagement between the distal attachment portion 32 and the distal attachment portion 480, as described herein. In various embodiments, the coupling collar 500 can rotate relative to the loading unit 20 and/or the elongated shaft assembly 116 to releasably lock the loading unit 20 to the elongated shaft assembly 116. For example, as described herein, the coupling collar 500 can rotate from an initial orientation (FIG. 25) toward a secondary orientation (FIG. 26) and then return toward the initial orientation (FIG. 29) to lock the loading unit 20 to the elongated shaft assembly 116.

Referring primarily to FIGS. 14 and 15, the proximal portion 480 of the loading unit 20 can include a rotation key or rib 486. As the loading unit 20 is moved in the proximal direction “PD” (FIG. 10) between a non-attached position (FIG. 10) and an attached position (FIG. 11), the rotation key 486 can affect rotation of the coupling collar 500. For example, the rotation key 486 can rotate and/or bias the coupling collar 500 in direction B (FIG. 11) from the initial orientation to the secondary orientation. The distal attachment portion 480 can be inserted into the distal attachment portion 32 when the coupling collar 500 is biased into the secondary orientation. Furthermore, when the distal attachment portion 480 is fully inserted into the distal attachment portion 32, the rotation key 486 can permit the coupling collar 500 to rotate in direction C (FIG. 11) from the secondary orientation toward the initial orientation. As used herein the term “fully inserted” as used with respect to the coupling of the loading unit 20 to the elongated shaft assembly 116 means that the distal attachment portion 480 of the loading unit 20 has been fully inserted in mating or operational engagement with the distal attachment portion 32 of the elongated shaft assembly 116. Direction C can be opposite to direction B, for example. As described herein, when the coupling collar 500 returns to the initial orientation, the coupling collar 500 can lock the distal attachment portion 480 relative to the distal attachment portion 32. Referring to FIGS. 14 and 15, the rotation key 486 can include a rotation ramp 488 at the proximal end thereof. The rotation ramp 488 can engage an element of the shaft assembly 116 to effect rotation of the rotation coupling collar 500, for example.

In various embodiments, the rotation ramp 488 can affect rotation of a firing shaft 104 positioned within the elongated shaft assembly 116. For example, referring primarily to FIGS. 19-22, the firing shaft 104 can include a firing shaft rotator 600 which can extend radially outward from the firing shaft 104. The rotation ramp 488 of the rotation key 486 can engage the firing shaft rotator 600 when the loading unit 20 is inserted into the elongated shaft assembly 116. In various embodiments, the rotation ramp 448 can rotate the firing shaft rotator 600, which can rotate the firing shaft 104. For example, the firing shaft 104 and the firing shaft rotator 600 can rotate in direction B between a first orientation (FIG. 25) and a second orientation (FIG. 26). Referring still to FIGS. 19-22, the firing shaft 104 can be engaged with the rotatable coupling collar 500. For example, the rotatable coupling collar 500 can include a rotator groove 502, which can be structured and dimensioned to receive and/or hold the firing shaft rotator 600. The firing shaft rotator 600 can be held by the rotator groove 600, such that the rotation of the firing shaft rotator 600 rotates the rotatable coupling collar 500. In such embodiments, insertion of the loading unit 20 into the elongated shaft assembly 116, can affect rotation of the rotatable coupling collar 500 in direction B (FIG. 26) via rotation of the firing shaft rotator 600 in direction B, for example.

Referring primarily to FIGS. 16 and 17, the distal attachment portion 32 can include a rotation key slot 510, which can receive the rotation key 486 when the distal attachment portion 480 is inserted into the distal attachment portion 32. In various embodiments, the rotation key slot 510 can include a clearance notch 512 for receiving the firing shaft rotator 600. For example, the rotation ramp 488 at the proximal end of the rotation key 486 can rotate the firing shaft rotator 600 to the second orientation and into the clearance notch 512 (FIG. 26). The rotation key 486 can continue to move along the rotation key slot 510 as the loading unit 20 is inserted into the elongated shaft assembly 116. Furthermore, when the distal end 490 of the rotation key 486 moves past the firing shaft rotator 600, the firing shaft rotator 600 can rotate back toward the first orientation (FIG. 30), which can corresponding rotate the rotatable coupling collar 500 back toward the initial orientation thereof.

In various embodiments, the rotatable coupling collar 500 can be biased into the initial orientation relative to the elongated shaft assembly 116 and/or the distal attachment portion 32. For example, a spring 514 can bias the coupling collar 500 into the initial orientation. The spring 514 can include a proximal end 516 that can be secured relative to the elongated shaft assembly 116, and a distal end 550 that can be secured relative to the coupling collar 500. For example, the proximal end 516 of the spring 514 can be retained in a proximal spring slot 556 (FIG. 23) of the shaft assembly 116, and the distal end 550 of the spring 514 can be retained in a distal spring slot 552 (FIG. 18) of the rotatable coupling collar 500, for example. In such embodiments, rotation of the coupling collar 500 can displace the distal end 550 of the spring 514 relative to the proximal end 516 of the spring 514, which can generate a torsional force. Accordingly, the coupling collar 500 can resist rotation from the initial orientation to the secondary orientation, and, when the coupling collar is rotated to the secondary orientation, the spring 514 can bias the coupling collar 500 back toward the initial orientation. Because the firing shaft rotator 600 is engaged with the coupling collar 500, the spring 514 can also bias the firing shaft 104 toward the first orientation thereof.

In various embodiments, the rotatable coupling collar 500 can include a locking detent 518 that releasably locks the loading unit 20 to the elongated shaft assembly 116. Referring primarily to FIG. 18, the locking detent 518 can extend radially inward from the inner perimeter of the rotatable coupling collar 500. In various embodiments, the locking detent 518 can extend into a detent slot 520 (FIG. 16) in the distal attachment portion 32. Referring primarily to FIG. 16, the detent slot 520 can form a notch in the guide slot 34. In various embodiments, the detent slot 520 can extend from the guide slot 34, and can be perpendicular or substantially perpendicular to the guide slot 34, for example. Further, the locking detent 518 can move along the detent slot 520 when the rotatable coupling collar 500 rotates between the initial orientation and the secondary orientation relative to the elongated shaft assembly 116.

In various embodiments, the locking detent 518 can engage the distal attachment portion 480 of the loading unit 20 to lock the loading unit 20 relative to the elongated shaft assembly 116. For example, referring again to FIG. 14, the distal attachment portion 480 can include the guide rail 482, which can have a lock notch 489 defined therein. The lock notch 489 can be structured and dimensioned to receive the locking detent 518 of the rotatable coupling collar 500 when the loading unit 20 is fully inserted into the distal attachment portion 32. For example, when the distal attachment portion 480 is fully inserted into the distal attachment portion 32, the lock notch 489 of the distal attachment portion 480 can be aligned with the detent slot 520 of the distal attachment portion 32. Accordingly, the locking detent 518 can slide along the detent slot 520 in the distal attachment portion 32 and into the lock notch 489 in the distal attachment portion. Furthermore, the locking detent 518 can be biased toward engagement with the lock notch 489 by the torsion spring 514. For example, after the firing shaft rotator 600 clears the distal end 490 of the rotation key 486, the firing shaft 104 can be biased back toward the first orientation and the rotatable coupling collar 500 can be biased back toward the initial orientation by the torsion spring 514. Furthermore, when the coupling collar 500 is rotated from the secondary orientation back to the initial orientation, the locking detent 518 thereof can be aligned and engaged with the lock notch 489 in the guide rail 482.

In various embodiments, rotation of the coupling collar 500 can facilitate attachment and/or alignment of a firing assembly. For example, the firing shaft 104 can extend between a proximal end 524 and a distal end 522. The proximal end 524 can have a rotation joint, which can permit rotation of the firing shaft 104 between the first configuration and the second configuration. Furthermore, the distal end 522 can have a coupler for attaching the proximal engagement member 467 of the drive beam assembly 461 to the firing shaft 104. Rotation of the firing shaft 104 can facilitate attachment of the proximal engagement member 467. For example, as the coupler at the distal end 522 of the firing shaft 104 rotates, the distal end 522 is operably coupled to the proximal engagement member 467. In certain embodiments, the coupler can include a bayonet mount, which can engage a corresponding bayonet receiver of the cutting element in the loading unit 20. Referring primarily to FIGS. 12 and 13, the firing assembly can further include a sleeve 526 positioned around the firing shaft 104 between the proximal end 524 and the distal end 522, for example.

In various embodiments, when the firing shaft 104 rotates within the elongated shaft assembly 116, the firing shaft 104 can rotate into alignment with a firing shaft slot 528 in the loading unit 20. For example, the firing shaft rotator 600 can be aligned with the firing shaft slot 528 when the loading unit 20 is fully inserted and attached to the elongated shaft assembly 116. However, in various embodiments, when the loading unit 20 is only partially inserted into the elongated shaft assembly 116, the firing shaft rotator 600 can be rotated, via the rotation key 486, out of alignment with the firing shaft slot 528. In other words, the firing shaft rotator 600 can be aligned with the firing shaft slot 482 when the firing shaft 104 is in the first orientation, and can be misaligned with the firing shaft slot 482 when the firing shaft 104 rotates toward the second orientation. In such embodiments, when the loading unit is only partially inserted into the elongated shaft assembly 116 and/or before the loading unit 20 is releasably locked to the elongated shaft assembly 116 by the rotatable coupling collar 500, the firing path of the firing shaft rotator 600 can be blocked by the distal attachment portion 480. Integration of the firing shaft 104 and the coupling collar 500 can ensure the loading unit 20 is securely attached to the elongated shaft assembly 116 before the firing shaft 104 can fire and/or advance. For example, the surgical instrument may be unable to fire until the cutting element in the loading unit 20 is coupled to the firing shaft 104, and/or until the firing shaft 104 is properly aligned within the elongated shaft assembly 116, for example.

In certain embodiments, rotation of the coupling collar 500 can facilitate attachment and/or alignment of an articulation assembly 530. Referring primarily to FIGS. 12 and 13, the articulation assembly 530 can include a proximal articulation bar 538, a distal articulation bar 420, and an articulation connector 532. Furthermore, the shaft assembly 116 can include a proximal articulation bar slot 534, and the loading unit 20 can include a distal articulation bar slot 410, for example. In certain embodiments, the proximal articulation bar 538 can be aligned with the proximal articulation bar slot 534, and the distal articulation bar 420 can be aligned with the distal articulation bar slot 410. Referring now to FIG. 18, the articulation connector 532 can be housed in the rotatable coupling collar 500. For example, the rotatable coupling collar 500 can include an articulation connector slot 536, and the articulation connector 532 can be moveably positioned therein.

In various embodiments, referring again to FIGS. 12 and 13, the proximal articulation bar 538 can have a proximal notch 540, and the distal articulation bar 420 can have a distal notch 423. Furthermore, the articulation connector 532 can include a proximal articulation lug 533 and a distal articulation lug 540. The proximal articulation lug 533 can be retained in the proximal notch 540 of the proximal articulation bar 538. In certain embodiments, the distal articulation lug 535 can operably engage the distal notch 423 of the distal articulation bar 420. As described herein, the rotatable coupling collar 500 can rotate between the initial configuration and the secondary configuration. As the coupling collar 500 rotates, the articulation connector 532 housed therein can also rotate relative to the longitudinal axis defined by the shaft assembly 116. In various embodiments, the proximal articulation lug 533 of the articulation connector 532 can remain positioned in the proximal notch 540 of the proximal articulation bar 538 as the articulation connector 532 rotates. Furthermore, the distal articulation lug 535 of the articulation connector 532 can move into engagement with the distal notch 423 of the distal articulation bar 420 as the articulation connector 532 rotates with the coupling collar 500 from the secondary orientation toward the initial orientation. For example, when the loading unit 20 is fully inserted into the shaft 488, the distal notch 423 of the distal articulation bar 420 can be aligned with the distal articulation lug 533 of the articulation connector 532. In such embodiments, when the rotatable collar 500 rotates back to the initial configuration, the distal articulation lug 533 can slide into the distal notch 423 of the distal articulation bar 420. When the distal articulation lug 533 is positioned in the distal notch 423, the articulation assembly 530 can be fully assembled.

Referring primarily to FIG. 17, in various embodiments, the proximal articulation bar slot 534 can include a first clearance 542 and a second clearance 544. The proximal and distal articulation lugs 533, 535 of the articulation connector 532 can extend into the first and second clearances 542, 544, respectively. In certain embodiments, the first and second clearances 542, 544 can provide a space for the proximal and distal articulation lugs 533, 535 to move as the collar 500 rotates and/or as the articulation assembly 530 articulates, for example.

Referring now to FIGS. 23-30, to connect the loading unit to the elongated shaft assembly 116 of the surgical instrument, a user can align the alignment indicia 484 of the loading unit 20 with the alignment indicia 502 of the elongated shaft assembly 116 and/or the coupling collar 500 (FIG. 23). While maintaining alignment of the alignment indicia 484, 502, the user can move the loading unit 20 relative to the elongated shaft assembly 116 along the longitudinal axis LA-LA. The user can move the loading unit 20 along a straight or substantially straight path, and, in various embodiments, need not rotate the loading unit 20 relative to the elongated shaft assembly 116, for example. Referring primarily to FIG. 25, the loading unit 20 can continue to translate relative to the elongated shaft assembly 116, and the guide rail 482 of the distal attachment portion 480 can fit into the guide slot 34 (FIG. 16) in the distal attachment portion 32 of the elongated shaft assembly 116. As the distal attachment portion 480 moves into the distal attachment portion 32, the guide slot 34 can guide the guide rail 482, and can maintain alignment of the alignment indicia 484, 502, for example. In other words, the guide slot 34 and the guide rail 482 can prevent rotation of the loading unit 20 relative to the longitudinal axis of the elongated shaft assembly 116. Referring primarily to FIG. 24, the proximal articulation lug 533 of the articulation connector 32 can extend into the first clearance 542 and can be positioned in the proximal notch 540 of the proximal articulation bar 420, and the distal articulation lug 535 of the articulation connector 32 can extend through the second clearance 544, for example.

Referring primarily to FIG. 26, as the distal attachment portion 480 is inserted into the distal attachment portion 32, the rotation key ramp 488 of the rotation key 486 can abut the firing shaft rotator 600. The rotation key ramp 488 can guide and/or direct the firing shaft rotator 600 into the clearance notch 512 extending from the rotation key slot 510. Furthermore, as the firing shaft rotator 600 moves into the clearance notch 512, the firing shaft 104 can rotate in the direction B. The firing shaft 104 can rotate from the first orientation to the second orientation. Such rotation of the firing shaft 104 can facilitate attachment of the distal end 522 of the firing shaft 104 with the proximal engagement member 467 that is pivotally coupled to the drive beam assembly 461. Furthermore, rotation of the firing shaft rotator 600 can rotate the coupling collar 500 in the direction B via the engagement between the firing shaft rotator 600 and the firing shaft rotator groove 600 in the coupling collar 500. The coupling collar 500 can rotate from the initial orientation to the secondary orientation, for example. Additionally, the locking detent 518 can move along the detent slot 520 in the shaft assembly 116 as the coupling collar 500 rotates. Additionally, rotation of the coupling collar 500 can rotate the distal end 550 of the spring 514 because the distal end 550 of the spring 514 can be retained in the distal spring slot 552 (FIG. 18) in the coupling collar 500. Displacement of the distal end 550 relative to the proximal end 516 can generate a torsional springback force, which can bias the coupling collar 500 from the secondary orientation toward the initial orientation, for example, and can bias the firing shaft 104 from the second orientation toward the first orientation, for example.

Referring primarily to FIG. 27, as the coupling collar 500 rotates toward the secondary orientation, the proximal articulation lug 533 can remain engaged with the proximal notch 540 in the proximal articulation bar 538. Furthermore, the distal articulation lug 535 can rotate such that the distal articulation lug 535 provides a clearance for the distal articulation bar 420 of the loading unit 20. Referring to FIG. 28, the loading unit 20 can be fully inserted into the elongated shaft assembly 116 when the coupling collar 500 and the articulation connector 532 positioned therein are rotated to the secondary orientation. In various embodiments, the distal articulation bar 420 can clear the distal articulation lug 535 of the articulation connector 532 when the articulation connector 532 is rotated to the secondary orientation. Furthermore, the distal articulation lug 535 can be rotatably aligned with the distal notch 423 in the articulation connector 532. Referring still to FIG. 28, when the loading unit 20 is fully inserted into the elongated shaft assembly 116, the firing rod rotator 600 can clear the distal end 490 of the rotation key 486.

Referring now to the FIG. 29, the firing shaft rotator 600 can rotate in the direction C when the distal end 490 of the rotation key 486 passes the firing shaft rotator 600. For example, the firing shaft rotator 600 can rotate in direction C from the second orientation toward the first orientation. Furthermore, rotation of the firing shaft rotator 600 can affect rotation of the coupling collar 500 in the direction C from the secondary orientation toward the initial orientation. In various embodiments, the spring 514 can bias the firing rod 104 toward the first orientation thereof and the collar 500 toward the initial orientation thereof. For example, the firing shaft rotator 600 can be positioned in the firing shaft rotator groove 602 (FIG. 18) in the coupling collar 500 such that rotation of the firing shaft rotator 600 rotates the coupling collar 500. Due to the alignment of the distal articulation lug 535 of the articulation connector 532 and the distal notch 423 of the distal articulation bar 420, the articulation connector 532 can rotate as the coupling collar 500 rotates, and the distal articulation lug 535 can rotate into engagement with the distal notch 423. The articulation assembly 530 can be assembled when the distal articulation lug 535 engages the distal notch 423. Furthermore, as the firing shaft rotator 600 rotates in direction C, the distal end 522 of the firing shaft 104 can rotate in direction C, which can facilitate attachment of a the proximal engagement member 467 of the drive beam assembly 461 to the distal end 522 of the firing shaft 104.

Referring now to FIG. 30, rotation of the coupling collar 500 can also rotate the locking detent 518 of the collar 500 into the lock notch 489 in the guide rail 482 of the distal attachment portion 480. For example, when the loading unit 20 is fully inserted into the elongated shaft assembly 116, the lock notch 489 can be aligned with the detent slot 520 such that the locking detent 518 can rotate through the detent slot 520 and into the lock notch 489. As described herein, the spring 514 can bias the coupling collar 500 to rotate in the direction C (FIG. 29) after the firing shaft rotator 600 clears the distal end 490 of the rotation key 486. Referring still to FIG. 30, when the firing shaft rotator 600 rotates in direction C, the firing shaft rotator 600 can move into alignment with the firing shaft slot 528 in the loading unit 20. Alignment of the firing shaft rotator 600 with the firing shaft slot 528 can permit the firing shaft 104 to be advanced distally to fire the loading unit 20, for example.

As described herein, the rotatable coupling collar 500 can releasably lock the loading unit 20 relative to the elongated shaft assembly 116. Furthermore, rotation of the coupling collar 500 can facilitate simultaneous attachment and/or alignment of the articulation assembly 530, as well as attachment and/or alignment of the firing shaft 104 with a cutting head assembly in the loading unit 20, for example. Furthermore, rotation of the coupling collar 500 can also simultaneously unlock the loading unit 20 from the elongated shaft assembly 116, disconnect the articulation assembly 530, and/or disconnect the firing shaft 104 from the cutting element in the loading unit 20. For example, when the coupling collar 500 is again rotated from the initial orientation toward the secondary orientation, the locking detent 518 can disengage the lock notch 489 in the distal attachment portion 480. Accordingly, the distal attachment portion 480 can be withdrawn from the distal attachment portion 32 along the longitudinal axis defined by the elongated shaft assembly 116, for example. In various embodiments, the loading unit 20 can be unattached from the elongated shaft assembly 116 without rotating the loading unit 20 relative to the elongated shaft assembly 116. However, the coupling collar 500 can rotate relative to the elongated shaft assembly 116, which can disconnect the distal articulation bar 420 from the articulation connector 532 in the coupling collar 500, and can disconnect the firing shaft 104 from the cutting element or drive beam assembly in the loading unit 20, for example.

As can be appreciated from the foregoing, the various surgical instruments disclosed herein afford the clinician with improved maneuverability and various other advantages that are not available when using prior surgical instruments that are configured to cut and fasten tissue as well as a way to quickly couple the end effectors to the elongated shaft of the surgical instrument. For example, in various implementations disclosed herein, the end effector is selectively articulatable in the same directions in which the jaws are movable relative to each other. Stated another way, the jaws of the surgical end effector are constrained to move in one plane. In various implementations disclosed herein, the end effector is also capable of moving in that same plane. Prior end effectors are commonly constrained to move in planes that differ from the plane in which the jaws move.

Another advantage provided by many of the present implementations is the use of a firing bar that comprises at least an upper firing bar and at least a lower firing bar that form a laminated structure. The upper bar may be attached to an upper end of the cutting head and the lower bar may be attached to the lower head such that they are spaced from each other at their points of attachment to the cutting head. Such arrangement serves to provide for a more stable cutting head arrangement that may be less likely to twist and/or buckle during actuation. In addition, the cutting head may be equipped with laterally protruding upper tab(s) that engage a portion of the anvil and lower tab(s) that engage the carrier. The upper firing bar may be attached directly behind the point where the upper tabs are attached such that it is axially aligned therewith. Likewise the lower firing bar may be attached to the bottom portion directly behind the points where the bottom tab(s) are attached such that it is axially aligned therewith. Such axial alignment facilitates transfer of the driving or actuation motions to the cutting head at the points where the cutting head engages the anvil and the carrier which may further prevent and buckling and/or twisting of the cutting head during actuation.

While the loading units have been described herein in connection with a coupling system for quickly and simultaneously coupling the drive beam assembly and the articulation beam with corresponding actuation portions of the surgical instrument, those of ordinary skill in the art will appreciate that the various end effectors disclosed herein that have unique articulation capabilities may also be effectively employed with surgical instruments lacking a coupler assembly disclosed herein.

In accordance with at least one form, there is provided a surgical instrument that may include an elongated shaft assembly that defines a longitudinal tool axis. The elongated shaft assembly may include a proximal firing member that operably interfaces with a firing system for receiving firing and retraction motions therefrom. The elongated shaft assembly may further include a proximal articulation assembly that operably interfaces with an articulation system for receiving articulation motions therefrom. The surgical instrument may further comprise a surgical end effector. In various implementations, the surgical end effector may comprise first and second end effector portions wherein the second end effector portion is selectively movable relative to the first end effector portion in a first direction upon application of an opening motion to the second end effector portion. The second end effector portion may be further selectively movable in a second direction upon application of a closing motion to the second end effector portion. The end effector may also include an articulation joint that is configured to selectively articulate the first end effector portion about an articulation axis in the first and second directions relative to the longitudinal tool axis. An articulation link assembly may operably interface with the articulation joint for applying the articulation motions to the articulation joint. A drive assembly may be supported for operable movement within the surgical end effector upon application of the firing and retraction motions thereto. The drive assembly may be configured to apply the opening and closing motions to the second end effector portion. The surgical instrument may further comprise means for simultaneously coupling: (i) a distal end of the first end effector portion to the elongated shaft assembly; (ii) the articulation link to the articulation assembly; and (ii) the drive assembly to the proximal firing member.

In accordance with at least one other general form, there is provided a disposable loading unit for attachment to an elongated shaft assembly of a surgical instrument. In various implementations, the disposable loading unit may include a housing assembly that has a distal and proximal end wherein the proximal end is operably couplable to the elongated shaft assembly. The disposable loading unit may further include a carrier that operably supports a surgical staple cartridge therein. An anvil may be movably supported on the carrier and be selectively movable relative to the carrier in a first direction upon application of an opening motion to the anvil. The anvil may be further selectively movable in a second direction upon application of a closing motion to the anvil. An articulation joint may be configured to selectively articulate the carrier about an articulation axis in the first and second directions. An articulation link assembly may operably interface with the articulation joint for applying the articulation motions to the articulation joint and be selectively couplable to a corresponding portion of the elongated shaft assembly. A drive assembly may be supported for operable movement within the surgical end effector upon application of firing and retraction motions from a corresponding firing portion of the elongated shaft assembly. The drive assembly may be configured to apply the opening and closing motions to the anvil.

In accordance with still another general form, there is provided a surgical instrument that may comprise an elongated shaft assembly that defines a longitudinal tool axis. The elongated shaft assembly may comprise a proximal firing member that operably interfaces with a firing system for receiving firing and retraction motions therefrom. The elongated shaft assembly may further comprise a proximal articulation assembly that operably interfaces with an articulation system for receiving articulation motions therefrom. The surgical instrument may further comprise a surgical end effector. In various implementations, the surgical end effector may comprise first and second end effector portions wherein the second end effector portion is selectively movable relative to the first end effector portion in a first direction upon application of an opening motion to the second end effector portion. The second end effector portion may be further selectively movable in a second direction upon application of a closing motion to the second end effector portion. An articulation joint may be configured to selectively articulate the first end effector portion about an articulation axis in the first and second directions relative to the longitudinal tool axis. An articulation link assembly may operably interface with the articulation joint for applying the articulation motions to the articulation joint. A drive assembly may be supported for operable movement within the surgical end effector upon application of the firing and retraction motions thereto. The drive assembly may be configured to apply the opening and closing motions thereto. The surgical instrument may further comprise a coupler assembly that may include a first coupler portion that is configured to couple a distal end of the first end effector portion to the elongated shaft assembly. The coupler assembly may further include a second coupler portion that is configured to couple the articulation link to the articulation assembly at a same time as the first coupler portion is coupled to the distal end of the first end effector portion. A third coupler portion may be configured to couple the drive assembly to the proximal firing member when the first coupler portion has coupled to the distal end of the first end effector portion to the elongated shaft assembly and when the second coupler portion has coupled the articulation link to the articulation assembly.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Preferably, the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

Any patent, publication, or other disclosure material, in whole or in part, that is the to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is the to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. 

What is claimed is:
 1. A surgical instrument, comprising: a handle, comprising: a longitudinal axis; a first handle drive system; and a second handle drive system; and a shaft attachment assembly attachable to and detachable from said handle, wherein said shaft attachment assembly comprises: an end effector; a shaft extending proximally from said end effector; a first shaft assembly drive system; a second shaft assembly drive system; and a coupling portion configured to be attached to said handle, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first handle drive system to said first shaft assembly drive system so that said first handle drive system can be operated to actuate a first surgical function of said end effector and operably couple said second handle drive system to said second shaft assembly drive system so that said second handle drive system can be operated to actuate a second surgical function of said end effector, wherein the operable coupling of said first handle drive system to said first shaft assembly drive system and the operable coupling of said second handle drive system to said second shaft assembly drive system requires only an attachment motion of said shaft attachment assembly by a user in a direction along said longitudinal axis, and wherein said shaft attachment assembly is attached to said handle proximally along said longitudinal axis to releasably lock said shaft attachment assembly to said handle.
 2. The surgical instrument of claim 1, further comprising a staple cartridge.
 3. A surgical instrument, comprising: a handle, comprising: a longitudinal axis; a first handle drive system; and a second handle drive system; and a shaft attachment assembly attachable to and detachable from said handle, wherein said shaft attachment assembly comprises: an end effector; a shaft extending proximally from said end effector; a first shaft assembly drive system; a second shaft assembly drive system; and a coupling portion configured to be attached to said handle, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first handle drive system to said first shaft assembly drive system so that said first handle drive system can be operated to actuate a first surgical function of said end effector and operably couple said second handle drive system to said second shaft assembly drive system so that said second handle drive system can be operated to actuate a second surgical function of said end effector, wherein the operable coupling of said first handle drive system to said first shaft assembly drive system and the operable coupling of said second handle drive system to said second shaft assembly drive system requires only an attachment motion of said shaft attachment assembly by a user in a direction along said longitudinal axis, and wherein said coupling mechanism comprises an automatically rotatable locking member configured to rotate automatically between a neutral position and an automatically rotated position during the attachment of said shaft attachment assembly to said handle.
 4. The surgical instrument of claim 3, wherein said shaft attachment assembly comprises a key configured to cause said automatically rotatable locking member to rotate during the attachment of said shaft attachment assembly to said handle.
 5. The surgical instrument of claim 4, wherein said first handle drive system comprises a firing member, and wherein said key is further configured to rotate said firing member out of alignment with said first shaft assembly drive system to prevent said first shaft assembly drive system from being actuated prior to the attachment of said shaft attachment assembly and said handle.
 6. The surgical instrument of claim 5, wherein said shaft attachment assembly further comprises an articulation joint, and wherein said second handle drive system comprises an articulation member configured to articulate said end effector relative to said shaft of said shaft attachment assembly about said articulation joint.
 7. The surgical instrument of claim 3, wherein said automatically rotatable locking member is spring-loaded.
 8. The surgical instrument of claim 3, further comprising an alignment feature configured to prevent said shaft attachment assembly from rotating about said longitudinal axis relative to said handle.
 9. The surgical instrument of claim 3, further comprising a staple cartridge.
 10. A surgical attachment assembly configured to be attached to and detached from one of a surgical instrument handle and a surgical robot that includes a shaft attachment portion defining a longitudinal axis, a first drive system, and a second drive system, wherein said surgical attachment assembly comprises: an end effector; a shaft extending proximally from said end effector; a first shaft assembly drive system; a second shaft assembly drive system; and a coupling portion configured to be attached to the one of the surgical instrument handle and the surgical robot, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first drive system to said first shaft assembly drive system so that said first drive system can be operated to actuate a first surgical function of said end effector and operably couple said second drive system to said second shaft assembly drive system so that said second drive system can be operated to actuate a second surgical function of said end effector, wherein the operable coupling of said first drive system to said first shaft assembly drive system and the operable coupling of said second drive system to said second shaft assembly drive system requires only an attachment motion of said surgical attachment assembly by a user in a direction along the longitudinal axis of the shaft attachment portion, and wherein said surgical attachment assembly is attached to said surgical instrument handle proximally along said longitudinal axis to releasably lock said surgical attachment assembly to said surgical instrument handle.
 11. The surgical attachment assembly of claim 10, further comprising a staple cartridge.
 12. A surgical attachment assembly configured to be attached to and detached from one of a surgical instrument handle and a surgical robot that includes a shaft attachment portion defining a longitudinal axis, a first drive system, and a second drive system, wherein said surgical attachment assembly comprises: an end effector; a shaft extending proximally from said end effector; a first shaft assembly drive system; a second shaft assembly drive system; and a coupling portion configured to be attached to the one of the surgical instrument handle and the surgical robot, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first drive system to said first shaft assembly drive system so that said first drive system can be operated to actuate a first surgical function of said end effector and operably couple said second drive system to said second shaft assembly drive system so that said second drive system can be operated to actuate a second surgical function of said end effector, wherein the operable coupling of said first drive system to said first shaft assembly drive system and the operable coupling of said second drive system to said second shaft assembly drive system requires only an attachment motion of said surgical attachment assembly by a user in a direction along the longitudinal axis of the shaft attachment portion, and wherein said coupling mechanism comprises an automatically rotatable locking member configured to rotate automatically between a neutral position and an automatically rotated position during the attachment of said surgical attachment assembly to the one of the surgical instrument handle and the surgical robot.
 13. The surgical attachment assembly of claim 12, further comprising a key configured to cause said automatically rotatable locking member to rotate during the attachment of said surgical attachment assembly to the one of the surgical instrument handle and the surgical robot.
 14. The surgical attachment assembly of claim 13, wherein the first drive system comprises a firing member, and wherein said key is further configured to rotate the firing member out of alignment with said first shaft assembly drive system to prevent said first shaft assembly drive system from being actuated prior to the attachment of said surgical attachment assembly to the one of the surgical instrument handle and the surgical robot.
 15. The surgical attachment assembly of claim 14, wherein said shaft comprises an articulation joint, and wherein said second drive system comprises an articulation member configured to articulate said end effector relative to said shaft about said articulation joint.
 16. The surgical attachment assembly of claim 12, wherein said automatically rotatable locking member is spring-loaded.
 17. The surgical attachment assembly of claim 12, further comprising an alignment feature configured to prevent said surgical attachment assembly from rotating about the longitudinal axis relative to the one of the surgical instrument handle and the surgical robot.
 18. The surgical attachment assembly of claim 12, further comprising a staple cartridge.
 19. A surgical instrument, comprising: a handle assembly, comprising: a longitudinal axis defined by a shaft assembly; a first handle drive system; and a second handle drive system; and a shaft attachment assembly attachable to and detachable from said handle assembly, wherein said shaft attachment assembly comprises: an end effector; an articulation joint; a shaft extending proximally from said articulation joint; a firing drive system; an articulation drive system; and a coupling portion configured to be attached to said handle assembly, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first handle drive system to said firing drive system to fire said end effector and operably couple said second handle drive system to said articulation drive system to articulate said end effector, wherein the operable coupling of said first handle drive system to said firing drive system and the operable coupling of said second handle drive system to said articulation drive system requires only an attachment motion of said shaft attachment assembly by a user in a direction along said longitudinal axis, and wherein said shaft attachment assembly is attached to said handle assembly proximally along said longitudinal axis to releasably lock said shaft attachment assembly to said handle assembly.
 20. The surgical instrument of claim 19, further comprising a staple cartridge.
 21. A surgical instrument, comprising: a handle assembly, comprising: a longitudinal axis defined by a shaft assembly; a first handle drive system; and a second handle drive system; and a shaft attachment assembly attachable to and detachable from said handle assembly, wherein said shaft attachment assembly comprises: an end effector; an articulation joint; a shaft extending proximally from said articulation joint; a firing drive system; an articulation drive system; and a coupling portion configured to be attached to said handle assembly, wherein said coupling portion comprises a coupling mechanism configured to operably couple said first handle drive system to said firing drive system to fire said end effector and operably couple said second handle drive system to said articulation drive system to articulate said end effector, wherein the operable coupling of said first handle drive system to said firing drive system and the operable coupling of said second handle drive system to said articulation drive system requires only an attachment motion of said shaft attachment assembly by a user in a direction along said longitudinal axis, and wherein said coupling mechanism comprises an automatically rotatable locking member configured to rotate automatically between a neutral position and an automatically rotated position during the attachment of said shaft attachment assembly to said handle assembly.
 22. The surgical instrument of claim 21, wherein said shaft attachment assembly comprises a key configured to cause said automatically rotatable locking member to rotate during the attachment of said shaft attachment assembly to said handle assembly.
 23. The surgical instrument of claim 22, wherein said first handle drive system comprises a firing member, and wherein said key is further configured to rotate said firing member out of alignment with said firing drive system to prevent said firing drive system from being actuated prior to the attachment of said shaft attachment assembly and said handle assembly.
 24. The surgical instrument of claim 21, wherein said automatically rotatable locking member is spring-loaded.
 25. The surgical instrument of claim 21, further comprising an alignment feature configured to prevent said shaft attachment assembly from rotating about said longitudinal axis relative to said handle assembly.
 26. The surgical instrument of claim 21, further comprising a staple cartridge. 